#ifndef TASK1_TIM_H
#define TASK1_TIM_H

#include "bits/stdc++.h"
#include "unistd.h"
#include <ros/ros.h>
#include <time.h>

using namespace std;

#define STRIGHT    0
#define LEFT       1
#define RIGHT      2
#define DAYOUZHUAN 3
#define STR_RIGHT  4
#define BIZHANG    6
#define DAOCHE     9
#define END        10
#define DAOCHEYOUZHAUAN 11
class tim
{
public:
    int stim_last;
    int stim_cur;
    int state;

    tim();

    void run(ros::Rate& looprate);
};

extern tim t;

#endif   // TASK1_TIM_H
